ptp
USA
Asked
Hello guys.
I'm trying to setup a base template project to use T265 and Lidar Plugins. Can someone share a project or scripts to navigate and use the Lidar data to avoid the obstacles ?
@DJ:
The distance data seems to be accumulating on the Navigator view e.g. not clearing up. Only "updates" after you press "Clear obstacle map" is this the expected behavior ? I'm not getting the expected results. Do you have plans to demo the T265 & Lidar with an Example Project template to navigate between waypoints and avoiding obstacles ?The NMS accumulates laser scan data and raises the event when it receives position data. I’ll give you an example code tonight.
the NMS page explains that laser scan data requires pose position data as well. I’m the pose positron data is prioritized for the nms.
Apologies for the delay. Few things came up. I’ll get to it this evening
Take a look at this: https://synthiam.com/Support/Skills/Navigation/NMS-Example?id=20640
For your SLAM module, which I think you're working on, will use this model. Your robot skill will subscribe to an NMS event that contains combined scan and location data.
@DJ: Thanks for the sample example/project.
I'm trying to put some pieces together. Initially I was looking for a script to navigate using the lidar and combining the existent plugins Navigator, T265, Hitachi lidar.
But deeper I go in the robot hole... more issues and/or missing pieces are missing to use the existent plugins as base project to implement autonomous navigation.
I'm not a big fan of Intel Support I believe the T265 has more features like map and re-localization although it seem the T265 is in auto-pilot mode (minimal support) and no roadmap/future.
You mentioned here: https://synthiam.com/Community/Questions/Hey-DJ-what-ya-got-cooking-20622
A few questions: What are you planning as navigations enhancements ? Can you share your roadmap/improvements for the existent plugins ? Do you have new hardware and/or (replacement for the T265)Cartographer can provide 2D odometry of decent quality, by using only low cost 360 degree LDS with pretty low data rate (5-7 Hz). IMU and additional odometry source (for example wheeled platform odometry or visual odometry) can increase resulting map quality on big environment areas. But for indoor mapping of about 50-60 square meters area they are not so important - Cartographer’s internal loop closure algorithm is capable of keeping such small maps consistent.
@DJ,
To piggy back on PTP's question, I am about to get back into working on the robot again now that the family issues have stabilized a bit. I have been thinking about the scripting needed for object avoidance either with the Lidar or if I can get the T435 working (I am beginning to think even though Intel says the 435i and 435 are identical from the SDK perspective there must be some difference since mine simply refuses to work properly in ARC). Anyway, I have an outline of what I want the script to do, but it is quite complex if I try to use the script to determine the obstacle shape or size to figure the best way around, or will do a lot of trial and error going back and forth until it finds a way past. I don't want to put a huge amount of effort into figuring out hte scripts if your roadmap has obstacle avoidance in the near (next few months) term.
Alan
We’re experimenting with a few NMS updates that allows the map to be global. This way there can be other skills for path planning, rather than the feature being built into the navigator, etc